Conveying equipment

Abstract

The system is equipped with a transport vehicle that can properly hold the transported object, and also provides transport equipment that facilitates increased work efficiency for the transported object. [Solution] The transport equipment 100 includes a transport vehicle 1 for transporting the object to be transported B, a travel area 2 on which the transport vehicle 1 travels, a work station 3 where work is performed on the object to be transported B transported by the transport vehicle 1, and a transfer station 4 for the transfer of the object to be transported B between the transport vehicle 1 and the work area 30. The transport vehicle 1 includes a mounting section on which the object to be transported B is placed, and a transfer device for moving the object to be transported B placed on the mounting section along a specific transfer direction. When the transport vehicle 1 travels between the transfer station 4 and the work area 30, it places the object to be transported B at a reference position on the mounting section. At the work area 30, the transport vehicle 1 operates the transfer device to place the object to be transported B at a work position different from the reference position.

Description

Technical Field

[0005] , ,

[0001] The present invention relates to a conveying facility including a carrier for conveying an object to be conveyed and a work station where work is performed on the object to be conveyed carried by the carrier.

Background Art

[0002] An example of the above-described conveying facility is disclosed in the specification of Chinese Patent Application No. 117566638 (Patent Document 1). Hereinafter, in the description of this background art, the reference numerals and names in Patent Document 1 are cited in parentheses.

[0003] The conveying facility (conveying facility) disclosed in Patent Document 1 includes a carrier (transfer device) for conveying an object to be conveyed (article 20). This carrier (transfer device) includes a placement portion (loading member 300) for holding the object to be conveyed (article 20). A working entity (person 30 or robot arm) performs work on the object to be conveyed (article 20) placed on the placement portion (loading member 300). The work performed by the working entity (person 30 or robot arm) includes work such as recovering the object to be conveyed (article 20) placed on the placement portion (loading member 300) and placing the object to be conveyed (article 20) on the placement portion (transfer member 300).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, it is sometimes preferable that the placement position of the object to be transported (article 20) on the placement section (loading member 300) differs depending on whether work is being performed on the object to be transported (article 20) or the transport vehicle (transfer device) is transporting the object to be transported (article 20). For example, when work is being performed on the object to be transported (article 20), it is easier to improve work efficiency if the object to be transported (article 20) is placed in a position close to the worker (person 30 or robot arm) or far from the worker (person 30 or robot arm). On the other hand, a placement position close to the worker (person 30 or robot arm) or far from the worker (person 30 or robot arm) tends to be a position far from where the placement section (loading member 300) can stably hold the object to be transported (article). Furthermore, when the object to be transported (article 20) is placed in such a position, the transport vehicle (transfer device) may not be able to properly hold the object to be transported (article 20) while it is transporting it.

[0006] However, Patent Document 1 does not consider the appropriate position of the object to be transported (article 20) on the loading section (loading member 300) while the transport vehicle (transfer device) is transporting the object to be transported (article 20). Therefore, there is a possibility that the object to be transported (article 20) may not be properly held while the transport vehicle (transfer device) is moving.

[0007] Therefore, it is desirable to have a transport vehicle that can properly hold the transported object, as well as to realize a transport system that easily improves the efficiency of work on the transported object. [Means for solving the problem]

[0008] In light of the above, the transport equipment consists of a transport vehicle that transports the object to be transported, The area on which the transport vehicle travels, A work station is positioned facing the aforementioned travel area and where work is performed on the object to be transported by the transport vehicle, A transfer station for the exchange of the transported object between the transport vehicle and the transport vehicle, A conveying device equipped with, The aforementioned transport vehicle is The running section and A mounting section on which the object to be transported is placed, A transfer device that moves the object to be transported, which is placed on the mounting section, along a specific transfer direction for the purpose of transferring the object to be transported at least between the transfer station and the transfer station, Equipped with, The location in the aforementioned travel area where the transport vehicle is adjacent to the work station shall be designated as the work area. The aforementioned transport vehicle is When traveling between the transfer station and the work area, the object to be transported is placed at the reference position in the aforementioned placement section. At the work site, the transfer device is operated to position the object to be transported at a work position different from the reference position.

[0009] With this configuration, when traveling between the transfer station and the work area, the object to be transported is positioned at a reference position on the mounting section, allowing the object to be properly held on the mounting section. Then, at the work area, the transfer device is operated to position the object to be transported at a work position different from the reference position, making it easier to perform work at the work station.

[0010] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0011] [Figure 1] A diagram showing an example of a conveying equipment layout. [Figure 2] Side view of the transport vehicle, driving area, and work station shown in Figure 1. [Figure 3] Enlarged view of the driving area shown in Figure 1. [Figure 4] Enlarged view of the work station shown in Figure 3. [Figure 5]Figure 1 shows an example of the operation of the transport vehicle in the transport equipment. [Figure 6] Plan view showing an example of a work guidance device. [Figure 7] Plan view showing another example of a work guidance device. [Modes for carrying out the invention]

[0012] 〔overview〕 The transport equipment 100 of this embodiment will be described with reference to the drawings. As shown in Figure 1, the transport equipment 100 transports the object to be transported B to a predetermined location. The object to be transported B includes, for example, a container for storing an article G, or the article G itself. In this embodiment, the transport equipment 100 collects one or more articles G stored in one or more locations and transports them to a predetermined location. The object to be transported B is a container containing an article G, or an empty container that does not contain an article G. The process of placing an article G into the container which is the object to be transported B is carried out at one or more locations.

[0013] The transport equipment 100 comprises a transport vehicle 1, a travel area 2 on which the transport vehicle 1 travels, a work station 3 where work is performed on the object B transported by the transport vehicle 1, a transfer station 4 for the transfer of the object B between the transport vehicle 1 and the transfer station 4, and a control system 10. The control system 10 controls at least the transport vehicle 1 to transport the object B to the transport vehicle 1. The work station 3 and the transfer station 4 are arranged facing the travel area 2. When the transport vehicle 1 moves to a position adjacent to the work station 3, work is performed on the object B transported by the transport vehicle 1. Also, when the transport vehicle 1 moves to a position adjacent to the transfer station 4, the object B is transferred between the transport vehicle 1 and the transfer station 4. In this embodiment, the control system 10 controls the transport vehicle 1 to move from the transfer station 4 to the transfer station 4 via a predetermined work station 3.

[0014] In this embodiment, the delivery station 4 includes a loading station 41 that loads at least a part of the object B to be conveyed into the travel area 2, and an unloading station 42 that unloads at least a part of the object B to be conveyed from the travel area 2. In the example shown in FIG. 1, the loading station 41 is a conveyor that loads the object B to be conveyed into the travel area 2. Specifically, in FIG. 1, an empty container as the object B to be conveyed is loaded from the loading station 41 into the travel area 2. The transport vehicle 1 receives the object B to be conveyed loaded from the loading station 41 into the travel area 2 and travels within the travel area 2. Also, the transport vehicle 1 passes through a position adjacent to the work station 3 during travel within the travel area 2, and a predetermined work is performed on the object B to be conveyed. After all the work on the object B to be conveyed is completed, the transport vehicle 1 delivers the object B to be conveyed to the unloading station 42. The unloading station 42 illustrated in FIG. 1 is a conveyor capable of receiving the object B from the transport vehicle 1. The object B received by the unloading station 42 is, for example, carried out outside the transport facility 100 and shipped.

[0015] As shown in FIGS. 1 and 2, the work station 3 includes a storage unit 31 that stores items for performing work on the object B to be conveyed, and a work entity 32 that performs work on the object B to be conveyed transported by the transport vehicle (1). In this embodiment, the storage unit 31 stores the articles G collected in a container, which is an example of the object B to be conveyed transported by the transport vehicle 1. In FIG. 1, a storage shelf for storing the articles G is illustrated as an example of the storage unit 31. The work entity 32 is a person or a robot. In the example shown in FIG. 1, the work entity 32 is a person.

[0016] In this embodiment, the working entity 32 takes out the article G from the storage unit 31 and stores it in the container which is the object B to be conveyed that the conveying vehicle 1 has conveyed. In the example shown in FIG. 2, when the working entity 32 performs an operation on the object B to be conveyed, information (order information) of the article G to be stored in the container conveyed by the conveying vehicle 1 that has moved to the work station 3 is transmitted to the working entity 32 in advance. The working entity 32 takes out the article G that matches the order information from the storage unit 31 and stores it in the container which is the object B to be conveyed that the conveying vehicle 1 has conveyed and has moved to a position adjacent to the work station 3.

[0017] In this embodiment, the conveying facility 100 includes a plurality of work stations 3. And the plurality of work stations 3 are arranged side by side. In the example shown in FIG. 2, the plurality of work stations 3 are arranged in a straight line in a row along the traveling area 2. According to this configuration, the plurality of work stations 3 can be arranged in a relatively small space. Therefore, more operations can be performed on the object B to be conveyed in a small space.

[0018] As shown in FIG. 2, the conveying vehicle 1 includes a traveling part 11 that travels, a placing part 12 on which the object B to be conveyed is placed, and a transfer device 13. The transfer device 13 moves the object B to be conveyed placed on the placing part 12 along a specific transfer direction X for the transfer of the object B to be conveyed at least between the delivery stations 4.

[0019] In this embodiment, the traveling part 11 includes a plurality of wheels 112 that roll on the floor surface F of the traveling area 2, and a vehicle body 111 that rotatably supports the plurality of wheels 112. In the example shown in FIG. 2, the plurality of wheels 112 are arranged on both sides in a direction orthogonal to at least the traveling direction T of the vehicle body 111. According to this configuration, the traveling part 11 can travel stably along the traveling direction T. The plurality of wheels 112 include drive wheels that are rotationally driven by a drive source such as a motor. The vehicle body 111 travels along the traveling direction T on the floor surface F when the drive wheels rotate.

[0020] The running unit 11 moves freely within the running area 2. Therefore, in this embodiment, the running unit 11 is equipped with a recognition device (not shown) that recognizes the position of the running unit 11 within the running area 2. The recognition device includes, for example, a detection unit (not shown) mounted on the chassis 111, and a detected unit (not shown) detected by the detection unit. The detected unit is positioned at a specific location on the floor surface F, and the detection unit detects the detected unit, allowing the control system 10 (described later) to recognize the position of the running unit 11. The detected unit includes, for example, a magnetic material, a one-dimensional code, or a two-dimensional code. If the detected unit is a magnetic material, the detection unit is composed of a detector that detects the magnetic material. If the detected unit is an identification code, the detection unit is composed of a code reader that reads the identification code. However, the detection unit and the detected unit are not limited to this configuration, as long as the detection unit can detect the detected unit. For example, the detected unit may be configured using an IC (Integrated Circuit) tag, and the detection unit may be configured using an IC tag reader. Alternatively, the detected unit may be configured using a mark that is detected by being imaged by the detection unit. The control system 10 controls the rotation of the multiple wheels 112 based on the position of the running unit 11 recognized by the recognition device.

[0021] The traveling unit 11 travels to locations in the traveling area 2 where the transport vehicle 1 will be adjacent to the work station 3, and to locations in the traveling area 2 where the transport vehicle 1 will be adjacent to the handover station 4. Hereafter, for the sake of explanation, the locations where the transport vehicle 1 will be adjacent to the work station 3 will be referred to as work locations 30, and the locations where the transport vehicle 1 will be adjacent to the handover station 4 will be referred to as handover locations 40. In this embodiment, the transport equipment 100 is equipped with multiple work stations 3, so there are work locations 30 corresponding to each of the multiple work stations 3. Also, in this embodiment, the handover station 4 is equipped with an incoming station 41 and an outgoing station 42, so the handover locations 40 are located adjacent to the incoming station 41 and adjacent to the outgoing station 42.

[0022] As shown in Figures 2 and 3, the transfer device 13 moves the object to be transported B in a transfer direction X that is perpendicular to the travel direction T of the travel section 11 when viewed from above. In this embodiment, the transfer device 13 moves the object to be transported B horizontally along the transfer direction X. Examples of the transfer device 13 include belt conveyors, roller conveyors, chain conveyors, and other conveyors. When the transfer device 13 is a conveyor, the mounting section 12 is the upper surface of the conveyor.

[0023] The transfer device 13 illustrated in Figures 2 and 3 has a fixed direction relative to the travel direction T of the travel unit 11, which allows the transport object B placed on the placement unit 12 to be moved. With this configuration, the transfer device 13 moves the transport object B in only one direction, thus simplifying its structure.

[0024] The control system 10 assigns a transport task to each transport vehicle 1 that specifies a designated location including the place where the transport vehicle 1 receives the transported object B, the destination to which the transport vehicle 1 transports the transported object B, and the place where the transport vehicle 1 delivers the transported object B. In this embodiment, order information is input to the control system 10. The control system 10 then identifies a work station 3 equipped with a storage unit 31 in which one or more items G included in the order information are stored, and sets the work area 30 of the corresponding work station 3 as the designated location. In this embodiment, the designated location specified as the place where the transported object B is received is the receiving area of ​​the receiving station 41, and the designated location specified as the place where the transported object is delivered is the handover area 40 of the transporting station 42.

[0025] The control system 10 sets a travel route that passes through designated locations included in the transport task. In this embodiment, the travel route is set to pass through the handover location 40 of the loading station 41, the work locations 30 of one or more work stations 3, and the handover location 40 of the unloading station 42 in that order.

[0026] In this embodiment, the control system 10 sets a travel lane 21 and a work lane 22 in the travel area 2. The travel path is set along the travel lane 21 and the work lane 22. The travel lane 21 is the lane for the transport vehicle 1 to move to a specific work lane 22, and the work lane 22 is the lane that contains the work area 30. The transport vehicle 1 travels in one direction in the travel lane 21 and the work lane 22. This configuration simplifies the setting of the travel path for each transport vehicle 1. In particular, when many transport vehicles 1 are to travel in the travel area 2, the paths of each transport vehicle 1 can be prevented from overlapping by having each transport vehicle 1 travel along the travel lane 21 and the work lane 22.

[0027] In the example shown in Figure 3, the travel lanes 21 and work lanes 22 are set along the direction in which the travel area 2 extends. The work lanes 22 are set on both sides of the travel area 2 in a direction perpendicular to the direction in which the travel area 2 extends. In the work lane 22 on the left side of the paper (first work lane 221) of this pair of work lanes 22, the transport vehicle 1 moves away from the handover station 4. On the other hand, in the work lane 22 on the right side of the paper (second work lane 222) of this pair of work lanes 22, the transport vehicle 1 moves towards the handover station 4. Multiple travel lanes 21 are set between the first work lane 221 and the second work lane 222. In the example shown in Figure 3, there are three travel lanes 21. The three travel lanes 21 include a down lane 211 and two up lanes (first up lane 212, second up lane 213). In the down lane 211, the transport vehicle 1 moves away from the handover station 4. Meanwhile, in the uphill lane, the transport vehicle 1 moves in a direction approaching the handover station 4. More specifically, in Figure 3, the downhill lane 211, the first uphill lane 212, and the second uphill lane 213 are set up in the order described, from the first work lane 221 to the second work lane 222.

[0028] The control system 10 includes, for example, a higher-level control device (not shown) that manages the entire transport equipment 100, and a vehicle control device (not shown) that controls each transport vehicle 1. The higher-level control device and the vehicle control device are configured to communicate with each other. The higher-level control device assigns transport tasks to the vehicle control devices (transport vehicles 1). The vehicle control device that has been assigned a transport task controls various devices installed on itself according to the transport task. The higher-level control device and the vehicle control device are equipped with, for example, a processor such as a microcomputer, peripheral circuits such as memory, etc. Each process or function is realized through the cooperation of this hardware and a program executed on a processor such as a computer. Hereafter, the processing of the control system 10 will not be strictly defined as being the processing of the higher-level control device or the vehicle control device, and any processing performed by either the higher-level control device or the vehicle control device will be referred to as the processing of the control system 10.

[0029] 〔control〕 In the following sections, the details of the processes performed by the control system 10 will be explained with reference to the drawings. Note that in the following sections, when describing the control performed by the control system 10 on the transport vehicle 1, it may simply be described as describing how the transport vehicle 1 operates. For example, when the control system 10 performs control on the transport vehicle 1 to move, it may simply be described as the transport vehicle 1 moving.

[0030] The control system 10 operates the transfer device 13 at each designated location included in the transport task. In this embodiment, the control system 10 operates the transfer device 13 at the handover location 40 and the work location 30 included in the transport task. In the example shown in Figure 1, the transport vehicle 1 operates the transfer device 13 at the handover location 40 corresponding to the loading station 41 to receive the transport object B that has been loaded from the loading station 41 into the travel area 2. The transport vehicle 1 also operates the transfer device 13 at the handover location 40 corresponding to the unloading station 42 to hand over the transport object B that the transport vehicle 1 has transported to the unloading station 42. After receiving the transport object B at the handover station 4, the transport vehicle 1 moves along the travel route to the work location 30 of the designated work station 3.

[0031] When the transport vehicle 1 travels between the handover station 4 and the work area 30, it places the object to be transported B at the reference position 131 in the loading section 12. At the work area 30, as shown in Figure 4, the transport vehicle 1 operates the transfer device 13 to place the object to be transported B at a work position 132 different from the reference position 131. In this embodiment, the reference position 131 is the central position in the transfer direction X of the loading section 12. With this configuration, the uneven load due to the weight of the object to be transported B can be reduced, making it easier to stabilize the movement of the transport vehicle 1. In the example shown in Figure 4, the work position 132 is the position closest to the work station 3 within the movable range of the transfer device 13.

[0032] As shown in Figure 3, after receiving the object B to be transported at the receiving station 41, the transport vehicle 1 travels down the down lane 211 and moves to the first work lane 221. In detail, the transport vehicle 1 traveling down the down lane 211 turns to face the first work lane 221 before moving into the first work lane 221. After entering the first work lane 221, the transport vehicle 1 turns to face the work area 30 set up within the first work lane 221. After turning, the transport vehicle 1 travels towards the work area 30.

[0033] As shown in Figures 3 and 4, the transfer device 13 initiates the movement of the object to be transported B from the reference position 131 to the work position 132 while the transport vehicle 1 is approaching the work area 30. In this embodiment, the transfer device 13 initiates the movement of the object to be transported B from the reference position 131 to the work position 132 before arriving at the work area 30. Preferably, the transfer device 13 initiates the movement of the object to be transported B when the transport vehicle 1 is a set distance away from the work area 30. The set distance is determined considering the travel speed of the travel unit 11 and the speed at which the transfer device 13 moves the object to be transported B from the reference position 131 to the work position 132. Preferably, the set distance is such that the object to be transported B is positioned at the work position 132 at the same time that the transport vehicle 1 arrives at the work area 30. With this configuration, the work unit 32 can start working on the object to be transported B at the same time that the transport vehicle 1 arrives at the work area 30.

[0034] In the work area 30, the object to be transported B, which is placed on the placement section 12, is positioned at the work position 132. The work position 132 shown in Figure 4 is a position within reach of a person, which is an example of a worker 32. With this configuration, a person, which is an example of a worker 32, can easily place the item G into the container, which is the object to be transported B.

[0035] When the object to be transported B is located on the work position 132 side, which is different from the reference position 131, the transport vehicle 1 reduces the travel speed of the travel unit 11 compared to when the object to be transported B is at the reference position 131. Here, the state in which the object to be transported B is located on the work position 132 side, which is different from the reference position 131, includes both the state in which the object to be transported B is at the work position 132 and the state in which the object to be transported B is between the reference position 131 and the work position 132. Furthermore, reducing the travel speed of the travel unit 11 includes the travel unit 11 stopping at the work area 30. In this embodiment, the transport vehicle 1 decelerates at a position a set distance before the work area 30 and stops at the work area 30. Hereafter, for the sake of explanation, the travel speed of the transport vehicle 1 when the object to be transported B is at the reference position 131 will be referred to as the first travel speed. On the other hand, the travel speed of the transport vehicle 1 when the object to be transported B is located on the side of the work position 132, which is different from the reference position 131, is referred to as the second travel speed.

[0036] In this embodiment, the transport vehicle 1 travels at a first travel speed in the travel lane 21, and when it enters the work lane 22 from the travel lane 21, it enters behind multiple transport vehicles 1 traveling in the work lane 22 and travels at a second travel speed in the work lane 22. By doing so, the time between operations performed on one transport vehicle 1 and the next transport vehicle 1 can be shortened, making it easier to improve the efficiency of operations at the work station 3.

[0037] Here, as shown in Figure 5, among the multiple work stations 3, the work station 3 where work is performed on the object to be transported B is referred to as the target station 3T, and the work area 30 corresponding to the target station 3T is referred to as the target area 30T. When the transport vehicle 1 travels along the multiple work stations 3, the object to be transported B is placed at the reference position 131 in the work areas 30 other than the target area 30T, and the object to be transported B is placed at the work position 132 in the target area 30T. In this case, the transport vehicle 1 stops at the target area 30T and travels in all other locations.

[0038] After completing work at the work area 30, the transport vehicle 1 moves the object to be transported B from the work position 132 to the reference position 131, as shown in Figure 4. While moving the object to be transported B from the work position 132 to the reference position 131, the transport vehicle 1 travels at a second speed. After the object to be transported B is positioned at the reference position 131, the transport vehicle 1 travels at a first speed.

[0039] In the example shown in Figure 3, after completing work at the work area 30 on the first work lane 221, the transport vehicle 1 moves toward the work area 30 on the second work lane 222. Since the directions in which the transport vehicle 1 can travel are different for the second work lane 222 and the first work lane 221, the transport vehicle 1 moves to a position behind the multiple transport vehicles 1 traveling in the second work lane 222. For this reason, the transport vehicle 1 traveling in the first work lane 221 first enters the second uphill lane 213. Then, this transport vehicle 1 travels along the second uphill lane 213 to a position behind the multiple transport vehicles 1 traveling in the second work lane 222 before entering the second work lane 222. After work is completed at the work area 30 in the second work lane 222, the transport vehicle 1 moves toward the first uphill lane 212 and travels toward the discharge station 42, where it delivers the transported object B.

[0040] [Preferred configuration] The following describes a preferred configuration in the conveying equipment 100 of this embodiment.

[0041] Preferably, the transport equipment 100 further includes a restricting member 5 positioned between the work station 3 and the work area 30, as shown in Figure 2. The restricting member 5 is positioned to face the object to be transported B, which is placed on the mounting section 12 of the transport vehicle 1 located in the work area 30, from the work station 3 side. In this embodiment, the restricting member 5 is installed on the floor surface F. With this configuration, when the object to be transported B is handed over at the handover station 4, unlike when the restricting member 5 is provided on the transport vehicle 1, there is no risk of the restricting member 5 obstructing the handover of the object to be transported B. In other words, at the handover location 40, the restricting member 5 is positioned away from the restricting position so as not to obstruct the handover of the object to be transported B between the handover station 4 and the work area 30, and at the work area 30, there is no need for it to be movable to move to the restricting position, thus simplifying the structure of the transport vehicle 1.

[0042] In this embodiment, the restricting section 52 comprises a fixing section 51 and the restricting section 52. The restricting section 52 is in the shape of a guide bar that guides the side of the object to be transported B from the working position 132 side in the transfer direction X. The fixing section 51 is a rod-shaped member that fixes the restricting section 52 to the floor surface F. The fixing section 51 is positioned between the travel area 2 and the work area 32. Therefore, the transport vehicle 1 does not need to travel around the fixing section 51, making it easier to improve transport efficiency.

[0043] Preferably, the transport equipment 100 further includes a work guidance device 6 installed at a position corresponding to the work area 30, as shown in Figure 6. In this embodiment, the work guidance device 6 guides the work by limiting the worker's line of sight.

[0044] Here, the work entity 32 is referred to as the worker, the worker at the work station 3 is referred to as the target worker 32T, and the position of the transported object B, which is located at the work position 132 of the transport vehicle 1 at the work site 30, is referred to as the work object position 133.

[0045] The work guidance device 6 includes a work restriction member 60 positioned to cover the transport object B located at a position other than the work object position 133, as viewed from the perspective of the target worker 32T, and an opening 61 provided in the work restriction member 60 to allow the target worker 32T to work on the transport object B located at the work object position 133. In the example shown in Figure 6, the work restriction member 60 is positioned on both sides in the travel direction T relative to the work object position 133 to cover the transport object B located at a position other than the work object position 133. In this embodiment, the work restriction member 60 is a plate-shaped member. In this embodiment, the size of the opening 61 is corresponding to the size of the opening of the container, which is the transport object B. In the example shown in Figure 6, the size of the opening 61 is slightly larger than the opening of the container, which is the transport object B. In the example shown in Figure 6, the space on the reference position 131 side (in this embodiment, the side away from the work station 3) in the transfer direction X relative to the opening 61 is also covered by the work restriction member 60.

[0046] Preferably, the work guide device 6 is provided with a temporary placement platform 62 for temporarily placing items G, as shown in Figure 7. With this configuration, the worker 32T can temporarily place the items G on the temporary placement platform 62. Therefore, the worker 32T can easily place the items G inside the container to effectively utilize the space inside the container, which is the object to be transported B. The temporary placement platform 62 illustrated in Figure 7 covers the side of the opening 61 on the reference position 131 side in the transfer direction X. The upper part of the temporary placement platform 62 is provided with a placement surface on which one or more items G can be placed. With this configuration, the worker 32T can see inside the container from the opening 61 at hand, and at the same time easily see the items G placed on the temporary placement platform 62. Therefore, the worker can easily perform work on the object to be transported B.

[0047] [Other Embodiments] Next, other embodiments of the conveying equipment 100 will be described.

[0048] (1) In the above embodiment, the transport equipment 100 was described as collecting one or more articles G stored in one or more locations and transporting them to a predetermined location. However, the transport equipment 100 may also transport one or more articles G as the object to be transported B to one or more locations.

[0049] (2) In the above embodiment, the transfer station 4 was described as comprising an incoming station 41 and an outgoing station 42. However, the transfer station 4 does not have to be configured to comprise an incoming station 41 and an outgoing station 42, but may be a device in which the functions of the incoming station 41 and the functions of the outgoing station 42 are integrated. In addition, in the above embodiment, the incoming station 41 and the outgoing station 42 were described as conveyors. However, the incoming station 41 and the outgoing station 42 may be stacker cranes or other transfer devices 13.

[0050] (3) In the above embodiment, the storage unit 31 was described as containing articles G that are collected in a container, which is the object B to be transported by the transport vehicle 1. However, the storage unit 31 may also contain tools necessary for performing work on the object B to be transported.

[0051] (4) In the above embodiment, the work unit 32 was described as taking the article G out of the storage unit 31 and placing it in the container which is the transported object B that the transport vehicle 1 has transported. However, at the work station 3, the work unit 32 may also collect one or more transported objects B that the transport vehicle 1 is transporting and store them in the storage unit 31. When the work unit 32 performs such work, for example, information (order information) of the transported objects B to be collected from the transport vehicle 1 that has moved to the work station 3 is transmitted to the work unit 32 in advance. The work unit 32 collects the transported objects B indicated in the order information from the transport vehicle 1.

[0052] (5) In the above embodiment, the multiple work stations 3 were described as being arranged in a straight line. However, the arrangement of the multiple work stations 3 is not limited to a straight line. For example, the multiple work stations 3 may be arranged in a curved or bent position when viewed from above.

[0053] (6) In the above embodiment, the running unit 11 was described as having a plurality of wheels 112 and being able to move freely on the floor surface F. However, the running unit 11 may also be configured to move along a track.

[0054] (7) In the above embodiment, the running unit 11 was described as being equipped with a recognition device that recognizes the position in which the running unit 11 is running within the running area 2. However, the running unit 11 may not be equipped with a recognition device and may run along a predetermined path. Furthermore, the recognition device was described as being equipped with a detectable unit positioned at a specific location on the floor surface F and a detection unit that detects the detectable unit. However, instead of being equipped with a detectable unit and a detection unit, the recognition device may be equipped with a sensor that detects the conditions around the chassis 111. In this case, the control system 10 integrates the information collected by the sensor attached to the chassis 111 to recognize the position of the chassis 111 within the running area 2 and set the running path.

[0055] (8) In the above embodiment, the transfer device 13 was described as a conveyor. However, the transfer device 13 may be a fork-type transfer device or a pusher or other pressing-type transfer device. Also, in the above embodiment, the mounting section 12 was described as the upper surface of the conveyor. However, the mounting section 12 may be a support base that the transfer device moves in the transfer direction X.

[0056] (9) In the above embodiment, the transfer direction X was described as being perpendicular to the travel direction T of the travel unit 11 when viewed in the vertical direction. However, the transfer direction X may also be parallel to the travel direction T of the travel unit 11 when viewed in the vertical direction. Furthermore, the transfer direction X may be configured to allow the transfer direction X of the transfer device 13 to be changed relative to the travel unit 11.

[0057] (10) In the above embodiment, the working position 132 was described as the position closest to the work station 3 within the movable range of the transfer device 13. However, the working position 132 may be any position closer to the work station 3 than the reference position 131 in the transfer direction X. Also, the working position 132 may be a position further away from the work station 3 in the transfer direction X. Furthermore, the working position 132 may be a position that extends beyond the conveyor, for example, a position in which the posture of the object to be transported B can be maintained while in contact with a guide that prevents the object to be transported B from falling.

[0058] (11) In the above embodiment, it was explained that a transfer device 13 is provided between the traveling unit 11 and the mounting unit 12. However, a lifting device or a swivel device may also be provided between the traveling unit 11 and the mounting unit 12.

[0059] (12) The above embodiment was described as having multiple work stations 3 and multiple work locations 30. However, the number of work stations 3 and work locations 30 may be just one.

[0060] (13) In the above embodiment, the control system 10 was described as including a higher-level control device and a vehicle control device for controlling each transport vehicle 1. However, the control system 10 may also be configured to include only the vehicle control device for each transport vehicle 1, without including a higher-level control device.

[0061] (14) In the above embodiment, the transfer direction X with respect to the travel direction T was described as being fixed. However, the transfer direction X with respect to the travel direction T is not limited to being fixed, and for example, the transfer direction X may be changed by rotating the conveyor.

[0062] (15) In the above embodiment, it was explained that the transport vehicle 1 slows down and stops before reaching the work area 30. However, after slowing down before reaching the work area 30, the transport vehicle 1 may pass through the work area 30 without stopping. In this case, the work entity 32 may or may not perform work on the transport object B that the transport vehicle 1 has transported as it passes through the work area 30.

[0063] (16) In the above embodiment, it was explained that the transport vehicle 1 stops at the target location 30T and travels everywhere else. However, the transport vehicle 1 may also travel at a reduced speed without stopping at the target location 30T.

[0064] (17) In the above embodiment, the restricting member 5 was described as being installed on the floor surface F. However, the restricting member 5 may also be installed on a workbench or conveyor of the work station 3.

[0065] (18) In the above embodiment, the restricting member 5 was described as comprising a fixing portion 51 and a restricting portion 52. Here, the shapes of the fixing portion 51 and the restricting portion 52 can be any shape as long as the restricting portion 52 can restrict the movement of the object to be transported B toward the work station 3.

[0066] (19) In the above embodiment, the work guidance device 6 was described as restricting the worker from viewing objects other than the transported object B. However, the work guidance device 6 is not limited in terms of visibility as long as it can restrict the worker from working on objects other than the transported object B. For example, the work guidance device 6 may be a transparent plate, a translucent plate, a perforated fence, etc., placed between the worker and objects other than the transported object B.

[0067] (20) In the above embodiment, the work restriction member 60 was described as a plate-shaped member. However, the work restriction member 60 is not limited to a plate-shaped member, and may be a fence-shaped member, a perforated fence, or the like.

[0068] (21) In the above embodiment, the work guidance device 6 was described as restricting the worker from seeing objects other than the transported object B. However, the work guidance device 6 may also guide the worker 32T by relatively increasing the visibility of the transported object B. For example, the work guidance device 6 may be a light source that illuminates the position 133 of the work object.

[0069] (22) The configurations disclosed in each of the above embodiments may be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0070] [Summary of this embodiment] The following is a summary of the embodiments of the conveying equipment described above.

[0071] The transport equipment consists of a transport vehicle that transports the object to be transported, The area on which the transport vehicle travels, A work station is positioned facing the aforementioned travel area and where work is performed on the object to be transported by the transport vehicle, A transfer station for the exchange of the transported object between the transport vehicle and the transport vehicle, A conveying device equipped with, The aforementioned transport vehicle is The running section and A mounting section on which the object to be transported is placed, A transfer device that moves the object to be transported, which is placed on the mounting section, along a specific transfer direction for the purpose of transferring the object to be transported at least between the transfer station and the transfer station, Equipped with, The location in the aforementioned travel area where the transport vehicle is adjacent to the work station shall be designated as the work area. The aforementioned transport vehicle is When traveling between the transfer station and the work area, the object to be transported is placed at the reference position in the aforementioned placement section. At the work site, the transfer device is operated to position the object to be transported at a work position different from the reference position.

[0072] With this configuration, when traveling between the transfer station and the work area, the object to be transported is positioned at a reference position on the mounting section, allowing the object to be properly held on the mounting section. Then, at the work area, the transfer device is operated to position the object to be transported at a work position different from the reference position, making it easier to perform work at the work station.

[0073] Furthermore, it is preferable that the transport vehicle begins moving the object to be transported from the reference position to the work position while approaching the work area.

[0074] This configuration allows the transported object to be positioned at the work location upon arrival. Therefore, it is easier to improve the efficiency of work at the work station.

[0075] Furthermore, when the object to be transported is located on the working position side, which is different from the reference position, it is preferable to lower the travel speed of the transport vehicle's travel unit compared to when the object to be transported is at the reference position.

[0076] This configuration reduces the possibility of the transported object falling due to vibrations during transport by lowering the travel speed when the transported object is located closer to the work station than the reference position. In addition, it reduces the possibility of the transport vehicle's stability being compromised by traveling at high speed when the transported object is located closer to the work position than the reference position.

[0077] Furthermore, the system is equipped with multiple work stations, and the multiple work stations are arranged side by side. Among the multiple work stations, the work station where work is performed on the object to be transported is designated as the target station, and the work area corresponding to the target station is designated as the target location. When the transport vehicle travels along a plurality of work stations, it is preferable to position the object to be transported at the reference position in work locations other than the target location, and to position the object to be transported at the work position in the target location.

[0078] With this configuration, in work areas corresponding to work stations where no work is performed on the transported object, the transported object can be left in its reference position, thereby reducing the frequency of operation of the transfer device and ensuring proper handling of the transported object. Furthermore, in work areas corresponding to target stations where work is performed on the transported object, the transported object is placed in the work position, making it easier to perform work at the work station.

[0079] Furthermore, the transfer device is a conveyor, The aforementioned mounting section is the upper surface of the conveyor, Preferably, the transfer direction is perpendicular to the direction of travel of the travel unit when viewed from above.

[0080] This configuration makes it easy to simplify the transfer device. In addition, it allows for easy movement of the object to be transported between the reference position and the working position.

[0081] Furthermore, the system includes a regulating member positioned between the work station and the work area. Preferably, the regulating member is positioned so as to face the object to be transported, which is placed on the front mounting section of the transport vehicle located at the work site, from the work station side.

[0082] According to this configuration, when the working position is set closer to the work station than the reference position, when the transport vehicle places the object to be transported at the working position in the work area, it is possible to restrict the object to be transported from moving closer to the work station than the working position, and consequently, make it difficult for the object to be transported to fall from the mounting area.

[0083] Furthermore, the system is further equipped with a work guidance device installed at a position corresponding to the work area, The workers at the aforementioned work station are designated as target workers, and the position of the object to be transported, which is positioned at the work position of the transport vehicle located at the work site, is designated as the object to be transported position. The work guidance device preferably comprises a work restriction member positioned to cover the transport object at a location other than the work object's position, as seen from the perspective of the worker, and an opening provided in the work restriction member to allow the worker to work on the transport object at the work object's position.

[0084] This configuration reduces errors made by workers and improves work efficiency. [Industrial applicability]

[0085] The technology relating to this disclosure can be used in a transport system that includes a transport vehicle for transporting objects and a work station where work is performed on the objects transported by the transport vehicle. [Explanation of Symbols]

[0086] 1: Transport vehicle 2: Driving Area 3: Work Station 3T: Target Station 4: Delivery Station 5: Regulating member 6: Work guidance device 11: Running gear 12: Mounting section 13:Transfer device 30: Workplace 30T: Target location 32T: Target worker 52: Regulatory Department 60: Work restriction member 61: Opening 100: Conveying equipment 131: Reference position 132: Working position 133: Position of the work object B: Object to be transported T: Traveling direction X: Transfer direction

Claims

1. A transport vehicle that transports the object to be transported, The area on which the transport vehicle travels, A work station is positioned facing the aforementioned travel area and where work is performed on the object to be transported by the transport vehicle, A transfer station for the exchange of the transported object between the transport vehicle and the transport vehicle, A conveying device equipped with, The aforementioned transport vehicle is The running section and A mounting section on which the object to be transported is placed, A transfer device that moves the object to be transported, which is placed on the mounting section, along a specific transfer direction for the purpose of transferring the object to be transported at least between the transfer station and the transfer station, Equipped with, The location in the aforementioned travel area where the transport vehicle is adjacent to the work station shall be designated as the work area. The aforementioned transport vehicle is When traveling between the transfer station and the work area, the object to be transported is placed at the reference position in the aforementioned placement section. A transport facility that operates the transfer device at the work site to position the object to be transported at a work position different from the reference position.

2. The transport equipment according to claim 1, wherein the transport vehicle begins moving the object to be transported from the reference position to the work position while approaching the work area.

3. The transport vehicle, when the object to be transported is located on the working position side, which is different from the reference position, reduces the travel speed of the traveling unit compared to when the object to be transported is at the reference position, as described in claim 1 or 2.

4. The system is equipped with multiple work stations, and the multiple work stations are arranged side by side. Among the multiple work stations, the work station where work is performed on the object to be transported is designated as the target station, and the work area corresponding to the target station is designated as the target location. The transport equipment according to claim 1 or 2, wherein when the transport vehicle travels along a plurality of work stations, the transport object is positioned at the reference position in work locations other than the target location, and the transport object is positioned at the work position in the target location.

5. The aforementioned transfer device is a conveyor, The aforementioned mounting section is the upper surface of the conveyor, The conveying equipment according to claim 1 or 2, wherein the transfer direction is perpendicular to the direction of travel of the traveling section when viewed from above.

6. The system further comprises a regulating member positioned between the work station and the work area, The transport equipment according to claim 1 or 2, wherein the restricting member is positioned to face the object to be transported, which is placed on the front mounting section of the transport vehicle located at the work area, from the work station side.

7. The system further includes a work guidance device installed at a position corresponding to the aforementioned work area, The workers at the aforementioned work station are designated as target workers, and the position of the object to be transported, which is positioned at the work position of the transport vehicle located at the work site, is designated as the object to be transported position. The conveying equipment according to claim 1 or 2, wherein the work guidance device comprises a work restriction member positioned to cover the conveyed object at a location other than the work object position as seen from the perspective of the target worker, and an opening provided in the work restriction member to allow the target worker to work on the conveyed object at the work object position.

Images